| { |
| "campaign": "pusht-parallel-20261019-s0", |
| "paper": "https://arxiv.org/abs/2604.23609", |
| "dp_reference": "https://diffusion-policy.cs.columbia.edu/data/experiments/image/pusht/diffusion_policy_cnn/config.yaml", |
| "policies": [ |
| "dp", |
| "tdp", |
| "grn", |
| "dit" |
| ], |
| "seeds": [ |
| 0 |
| ], |
| "steps": 512400, |
| "reference_epochs": 3050, |
| "batch_size": 64, |
| "lr": 0.0001, |
| "betas": [ |
| 0.95, |
| 0.999 |
| ], |
| "weight_decay": 1e-06, |
| "eps": 1e-08, |
| "warmup_steps": 500, |
| "ema": { |
| "inv_gamma": 1.0, |
| "power": 0.75, |
| "max_value": 0.9999 |
| }, |
| "dataset_seed": 42, |
| "log_every": 100, |
| "checkpoint_every": 8400, |
| "eval_every": 8400, |
| "eval_episodes": 50, |
| "eval_videos": 3, |
| "eval_seed_start": 100000, |
| "eval_max_steps": 300, |
| "eval_sampler": "ddim", |
| "eval_nfe": 10, |
| "final_dp_samplers": [ |
| { |
| "sampler": "ddpm", |
| "nfe": 100 |
| }, |
| { |
| "sampler": "ddim", |
| "nfe": 10 |
| } |
| ], |
| "final_tdp_nfe": [ |
| 2, |
| 10 |
| ], |
| "final_grn_nfe": [ |
| 2, |
| 8, |
| 16 |
| ], |
| "model": { |
| "down_dims": [ |
| 512, |
| 1024, |
| 2048 |
| ], |
| "diffusion_step_embed_dim": 128, |
| "kernel_size": 5, |
| "n_groups": 8, |
| "crop_size": 84, |
| "horizon": 16, |
| "n_obs_steps": 2, |
| "n_action_steps": 8, |
| "dit_width": 512, |
| "dit_depth": 6, |
| "dit_heads": 8, |
| "grn_width": 384, |
| "grn_depth": 8, |
| "grn_heads": 8, |
| "bits": 8, |
| "tube_lambda": 10.0, |
| "tube_sigma0": 0.05, |
| "tube_k": 1.0, |
| "tube_time_scale": 1000.0 |
| }, |
| "hash_verification": false, |
| "live_monitoring": false, |
| "fidelity_notes": [ |
| "RGB PushT controlled reproduction; original DP 90-demo split and normalization, fixed 512400 optimizer updates at effective batch64.", |
| "TDP is derived from the paper, as authors have not released code or complete PushT hyperparameters. Tube constants and action-to-U-Net lift are explicit implementation choices.", |
| "GRN is an action-domain adaptation, with a larger configurable temporal head.", |
| "DiT uses Dasari et al. DiT-Block conditioning adapted to shared PushT RGB encoder, not a pretrained VLA.", |
| "Modern gym-pusht preserves legacy state reset order but is not the original archived DP environment; version recorded.", |
| "Periodic checkpoint evaluation reports test score as in the paper; final published policy is the final EMA, not the best test-selected checkpoint." |
| ], |
| "policy": "dp", |
| "seed": 0, |
| "dataset": { |
| "source": "https://diffusion-policy.cs.columbia.edu/data/training/pusht.zip", |
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| "normalization": { |
| "images": "2*(uint8/255)-1 in shared encoder", |
| "state_action": "full replay min/max, original DP convention" |
| }, |
| "stats": { |
| "action": { |
| "min": [ |
| 12.0, |
| 25.0 |
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| "max": [ |
| 511.0, |
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| }, |
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| "split_seed": 42, |
| "max_train_episodes": 90, |
| "split_windows": 10726 |
| }, |
| "parameters": 262709026, |
| "versions": { |
| "torch": "2.7.1", |
| "torchvision": "0.22.1", |
| "diffusers": "0.35.2", |
| "gym-pusht": "0.1.7", |
| "pymunk": "6.11.1", |
| "numpy": "2.2.6", |
| "wandb": "0.21.4", |
| "huggingface-hub": "0.35.3" |
| }, |
| "python": "3.10.19", |
| "device": "cuda", |
| "gpu": "Tesla V100-SXM3-32GB", |
| "microbatch": 64, |
| "precision": "float32", |
| "smoke": false, |
| "batches_per_epoch": 168, |
| "resume_exact_worker_rng_replay": false, |
| "wandb_url": "https://wandb.ai/yuyuan-wu-universiteit-gent/policy%20parallel%20test/runs/pusht-parallel-20261019-s0-dp-s0", |
| "completed_updates": 512400, |
| "samples_seen": 32714300, |
| "train_seconds": 64772.88574781269 |
| } |
|
|
